Prosthetic Device

ABSTRACT

A prosthetic device. The prosthetic device may include a flexure cut and/or a sensor to detect movement in accordance with a degree of movement. In an embodiment, the sensor may be disposed within the flexure cut. Other embodiments include at least one wire configured to connect a sensor located in a distal portion to a proximal portion, while annularly traversing a joint.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a Continuation of U.S. patent application Ser. No.15/870,162, filed Jan. 12, 2018 and entitled RFID System and Method, nowU.S. Pat. No. 11,026,816 issued Jun. 8, 2021 (Attorney Docket No. W52),which claims the benefit of U.S. Provisional Application Ser. No.62/445,549, filed Jan. 12, 2017 and entitled Prosthetic Device (AttorneyDocket No. S91), which is hereby incorporated by reference in itsentirety.

STATEMENT OF GOVERNMENT INTEREST

This invention was made with Government support under Contract NumberHR0011-15-C-0125 awarded by DARPA. The Government has certain rights inthe invention.

FIELD OF THE INVENTION

This disclosure relates to mechanical and medical devices. Morespecifically, this disclosure relates to prosthetics devices.

BACKGROUND

A prosthetic device provide functionality to a user that has lost a partof their body. Previous prosthetics continue to lack functionalitydesired by many users. Therefore, it has become desirable to improveprosthetics to facilitate increased benefits of the prosthetic device.

SUMMARY

In accordance with one implementation, a prosthetic device is disclosed.The prosthetic device includes a flexure cut; a sensor located in adistal portion of the prosthetic device to detect movement in accordancewith a degree of movement wherein the sensor is disposed within theflexure cut; and at least one wire configured to connect the sensor to aproximal portion of the prosthetic device, wherein the at least one wireannularly traversing a joint of the prosthetic device.

Some embodiments of this aspect of the invention may include one or moreof the following. Wherein the prosthetic device further including afinger structure, wherein the flexure cut is disposed within the fingerstructure. Wherein the finger structure comprising an outer surface, afirst dissected surface and a second dissected surface that define thesides of the flexure cut, wherein the sides of the flexure cut extendlinearly inward from an outer surface of the finger structure. Whereinthe flexure cut traverses through the finger structure in a curvilinearmanner. Wherein the sensor configured to measure movement in accordancewith the at least one degree of degree. Wherein the prosthetic devicefurther comprising a processor disposed in the proximal portion; and ajoint configured for annual motion, the sensor disposed within thedistal portion, wherein the at least one wire connecting the sensor inthe distal portion to the processor in the proximal portion, wherein theat least one wire is configured to circumvent the joint withoutprohibiting annular motion.

In accordance with one implementation, a prosthetic device is disclosed.The prosthetic device includes a flexure cut configured to provide atleast one degree of freedom to the prosthetic device.

Some embodiments of this aspect of the invention may include one or moreof the following. Wherein the prosthetic device further includes afinger structure, wherein the flexure cut is disposed within the fingerstructure. Wherein the finger structure comprising an outer surface, afirst dissected surface and a second dissected surface that define thesides of the flexure cut, wherein the sides of the flexure cut extendlinearly inward from an outer surface of the finger structure. Whereinthe flexure cut traverses through the finger structure in a curvilinearmanner.

Wherein the prosthetic device further comprising a sensor disposedwithin the flexure cut, the sensor configured to measure movement inaccordance with the at least one degree of degree. Wherein theprosthetic device further comprising a proximal portion; a distalportion; a processor disposed in the proximal portion; a jointconfigured for annual motion, the sensor disposed within the distalportion, and at least one wire connecting the sensor in the distalportion to the processor in the proximal portion, wherein the at leastone wire is configured to circumvent the joint without prohibitingannular motion.

In accordance with one implementation, a prosthetic device is disclosed.The prosthetic device includes a proximal portion; a distal portion; ajoint configured for annular motion; and at least one wire connectingthe proximal portion to the distal portion, wherein the at least onewire is configured to circumvent the joint without prohibiting annularmotion.

Some embodiments of this aspect of the invention may include one or moreof the following. Wherein the at least one is configured to annularlytraverse the joint in a first direction before annularly traversing thejoint in a second direction. Wherein the prosthetic device furthercomprising a wire path disposed within the joint.

In accordance with one implementation, a prosthetic device is disclosed.The prosthetic device including a sensor configured to measure movementin accordance with at least one degree of freedom of the prostheticdevice.

Some embodiments of this aspect of the invention may include one or moreof the following. Wherein the sensor is a force resisting sensor.Wherein the sensor is configured to detect flexure. Wherein theprosthetic device further comprising a proximal portion, a distalportion, a joint configured for annular motion, the sensor disposedwithin the distal portion, and at least one wire connecting the sensorin the distal portion to the portion, wherein the at least one wire isconfigured to circumvent the joint without prohibiting annular motion.

In accordance with one implementation, a prosthetic device is disclosed.The prosthetic device comprising a flexure cut configured to provide atleast one degree of freedom to the prosthetic device.

In accordance with one implementation, a prosthetic device is disclosed.The prosthetic device comprising a sensor configured to measure movementin accordance with at least one degree of freedom of the prostheticdevice.

In accordance with one implementation, a prosthetic device is disclosed.The prosthetic device comprising a proximal portion, a distal portion, ajoint configured for annular motion, and at least one wire connectingthe proximal portion to the distal portion, wherein the at least onewire is configured to circumvent the joint without prohibiting annularmotion.

The details of one or more embodiments are set forth in the accompanyingdrawings and the description below. Other features and advantages willbecome apparent from the description, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other aspects will become more apparent from the followingdetailed description of the various embodiments of the presentdisclosure with reference to the drawings wherein:

FIG. 1 is a perspective view of one embodiment of a prosthetic device;

FIG. 2 is a perspective view of one embodiment of a hand assembly;

FIG. 3 is a side view of one embodiment of a finger structure;

FIG. 4 is a side view of one embodiment of a finger structure;

FIG. 5 is a side view of one embodiment of a finger structure;

FIG. 6 is an enlarged view of a portion of FIG. 6;

FIG. 7 is a side view of one embodiment of a finger structure;

FIG. 8 is a side view of one embodiment of a finger structure;

FIG. 9 is a perspective cross-section view of one embodiment of a fingerstructure;

FIG. 10 is a perspective view of one embodiment of a hand assembly;

FIG. 11 is a perspective view of one embodiment of a hand assembly;

FIG. 12 is a schematic diagram of an embodiment of a finger structure;

FIG. 13 is a schematic diagram of an embodiment of a finger structure;

FIG. 14 is a side view of one embodiment of a finger structure;

FIG. 15 is a perspective view of one embodiment of a finger structure;

FIG. 16 is a perspective view of one embodiment of a finger structure;

FIG. 17 is a perspective view of one embodiment of a finger structure;

FIG. 18 is a side view of one embodiment of a finger structure;

FIG. 19 is a side view of one embodiment of a finger structure;

FIG. 20 is a perspective view of one embodiment of a finger structure;

FIG. 21 is a perspective view of one embodiment of a finger structure;and

FIG. 22 is a perspective view of one embodiment of a finger structure.

DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

The construction of a prosthetic device may be coordinated to streamlineassembly and use, accommodate additional functionality, implementtactile sensors, and enable wiring configurations. Without coordination,the prosthetic device may not fully accommodate various features. Thisdisclosure discusses various embodiments of a coordinated prostheticdevice that facilitates assembly, use, functionality, sensors, and/orwiring.

Referring to FIG. 1, in some embodiments, a prosthetic apparatus 10(which may also be referred to herein as a “prosthetic device”) mayinclude an arm assembly 20 and/or a hand assembly 30, for example,similar to any assemblies and/or prosthetic apparatus and/or deviceshown and/or described in U.S. application Ser. No. 13/088,085, filedApr. 15, 2011, now U.S. Pat. No. 9,114,030, issued Aug. 25, 2015 andentitled System for Control of a Prosthetic Device (Attorney Docket No.I45). However, in some embodiments, the prosthetic apparatus may be adifferent apparatus and/or any prosthetic apparatus. The prostheticapparatus 10 may be configured to move and articulate in a realisticmanner to provide a user with effective and comfortable prosthetic use.For example, a component of the prosthetic apparatus 10, such as the armassembly 20, may include a plurality of segments (e.g. a first segment22 and a second segment 24) that provide a user with a desired number ofdegrees of freedom, including, but not limited to, those similar tohuman movement and function. In some embodiments, the number of degreesof freedom of the prosthetic apparatus 10 may be less than, equal to, ormore than those provided by a human equivalent of the prostheticapparatus 10.

In use, the arm assembly 20 may be coupled to one or more of a user'sshoulder, a user's arm, a prosthetic shoulder assembly, and/or aprosthetic arm assembly. The length and structure of the arm assembly 20may be modified as necessary to provide the user with aprosthetic-containing combination that has substantially the same lengthas a human arm. The prosthetic hand assembly 30 may be coupled to auser's arm, a user's wrist, a user's hand, a prosthetic arm, aprosthetic wrist, and/or a prosthetic hand. Either (or both) of the armassembly 20 and hand assembly 30 may be controlled by a control system,which may be any control system including any one or more shown in U.S.application Ser. No. 13/088,063, filed Apr. 15, 2011, now U.S. Pat. No.8,979,943, issued Mar. 17, 2015 and entitled Arm Prosthetic Device(Attorney Docket No. I43).

FIG. 2 depicts a perspective view of one embodiment of the hand assembly30. The hand assembly 30 may include a palm structure 32 and/or at leastone finger structure 34 that extends from the palm structure 32. Thepalm structure 32 may extend around the circumference of the handassembly and may include both the underside and backside of the palmstructure 32. The at least one finger structure 34 on the hand assembly30 may be a thumb structure 36, an index structure 38, a middlestructure 40, a ring structure 42 and/or a pinky structure 44.

As discussed above, the construction of the prosthetic apparatus 10 maybe coordinated to accommodate assembly/use and functionality. FIGS. 3,4, and 5 depict embodiments that utilize such coordinated constructionto accommodate assembly, use, and functionality.

Referring now also to FIG. 3, the prosthetic apparatus 10 may include atleast one finger structure 34. The finger structure 34 may have a distalportion 52, a middle portion 54, and a proximal portion 56. On someembodiments, at least one portion (e.g. the distal portion 52) may beconfigured to actuate or rotate about another portion (e.g. the middleportion 54). To facilitate such articulation, the finger structure 34may include an articulating member 58 disposed between two portions(e.g. between the distal portion 52 and the middle portion 54 or betweenthe middle portion 54 and the proximal portion 56).

In some embodiments, the finger structure 34 of the prosthetic apparatus10 may include at least one phalange member 60 disposed in one or moreof the portions 52, 54, and 56. One such embodiment may include threephalange members (e.g. first phalange member 62, second phalange member64, and third phalange member 66) and one or more joints (e.g. firstjoint 68 and second joint 70) to facilitate movement of one or more ofthe phalange members 60. In some embodiments, the one or more of thejoints (e.g. first joint 68 and/or second joint 70) may be toggled toform a locked angle between two phalange members 60, such that at leastone of the phalange members 60 cannot articulate about a joint and/oranother phalange member. Preventing articulation may bedesirable/beneficial for many reasons, including, but not limited to, itdecreases the available degrees of freedom but provides stability to theuser.

One of the phalange members may be disposed closer to the point of userattachment than the other phalange members, and thusly referred to asthe proximal phalange member 72. For example, in FIG. 3, the firstphalange member 62 may also be referred to as proximal phalange member72. Similarly, one of the phalange members may be disposed farther fromthe point of user attachment than the other phalange members (e.g.distal phalange member 76). A phalange member disposed between a distalphalange member and a proximal phalange member may be referred to as amiddle phalange member (e.g. middle phalange member 74).

Referring now also to FIGS. 3 and 4, in some embodiments, each portion52, 54, and 56 includes one and only one phalange member 60. Bycontrast, another embodiment of the finger structure 34 shown in FIG. 4may include a phalange member (e.g. distal phalange member 90) thatextends across more than one portion (e.g. across both the distalportion 52 and the middle portion 54). The distal phalange member 90 mayappear to include two phalange members while formed monolithicallywithout a joint therein. The monolithic phalange member may beconfigured to mimic the combined structure of a distal phalange memberand a middle phalange member bent at a fixed angle in a fixedconfiguration. For example, in the embodiment shown in FIG. 4, thedistal phalange member 90 may be monolithically formed such that a firstportion 92 of the distal phalange member 90 and a second portion 94appear to be bent from one another at a predetermined angle Θ (e.g. 25°)from reference line 96. Similar embodiments may include two portionsbent at angle between approximately 20 degrees and approximately 30degrees.

Referring now also to FIG. 6, in some embodiments, the finger structure110 may include a flexure cut 100. The flexure cut 100 may be disposedat least partially across and/or along a dimension of the fingerstructure 110. The flexure cut 100 may be formed by one of severalmanufacturing, molding, or machining processes. For example, the flexurecut 100 may be cut or machined from a fully-formed finger member. Someembodiments of the flexure cut 100 may utilize a slot, channel, void,gap, opening, aperture, recess, slit, orifice, and/or notch.

In various embodiments, a first dissected portion 102 and a seconddissected portion 104 may define the boundaries of the flexure cut 100.In some embodiments, the dissected portions 102 and 104 may be, but neednot be, proximal and distal of one another. For example, the dissectedportions 102 and 104 may both be formed within a distal finger portion120. Referring to the magnified view in FIG. 6, the first dissectedportion 102 may have a first surface 122 and a second surface 124. Thefirst surface 122 may extend generally transverse to the flexure cut 100and the second surface 124 may extend generally along to the flexurecut, defining a first side 126 of the flexure cut 100. The seconddissected portion 104 may similarly have a first surface 128 that mayextend generally transverse to the flexure cut 100 and a second surface128 that may extend generally along to flexure cut 100 to define asecond side 132 of the flexure cut 100. Embodiments where more than twodissected portions that similarly define the boundaries of the flexurecut 100 are also within the scope of this disclosure.

In operation, the flexure cut 100 provides pivoting and/or springfunctionality to portions of the finger member 110. For example, in anembodiment of the finger member 110 like FIG. 5 (having only a middlejoint 140), a flexure cut 100 disposed within the distal finger portion120 may provide pivoting flexure movement between the first dissectedportion 102 and the second dissected portion 104. As pivoting occursbetween the first dissected portion 102 and the second dissected portion104, the width 150 of the flexure cut 100 may change (e.g. increaseand/or decrease). The second surface 124 of the first dissected portion102 and/or a the second surface 130 of the second dissected portion 104may be configured to permit contact between the first dissected portion102 and the second dissected portion 104. In an embodiment, such contactmay be utilized to prevent overload and/or prevent flexure of the fingermember 110 beyond a predetermined amount.

Referring now also to FIG. 7, a flexure cut 100 may be positionedthroughout the finger structure 110 in at least one of several regions160, 162, 164, and/or 166. For example, the flexure cut 100 may bedistally disposed in the fingertip region 160 or may be proximallydisposed in the most proximal region 166. The flexure cut may bedisposed in region 162 such that it provides some joint function to anotherwise joint-less distal portion 120 and middle portion 170. Theflexure cut may also or instead be disposed in region 164, distal to amiddle joint 172 or proximal joint 174 within the finger structure 110and proximal to the fingertip region 150. One or more flexure cuts 100may be located in an embodiment of the index structure 38. In anembodiment, one or more flexure cuts 100 may be located in more than oneof the regions 160, 162, 164, and 166. For example, referring now alsoto FIG. 8, flexure cuts 100 may be located in both regions 160 and 162.

The orientation of the flexure cut 100 may be described generally by theoriginating surface (if applicable), the angle, and/or the direction ofdisposition. Referring again to FIG. 8, the flexure cut 100 may beembodied with a width 150 originating from the upper surface 180 of thefinger structure 110. Similarly, the flexure cut 100 may originate fromthe fingertip surface 182, the bottom surface 184, and/or from a sidesurface 186 of the finger member 110. The finger structure 110 mayinclude one or more flexure cuts 100 that travel in two or threedimensions within the finger structure.

The nature of flexure cut 100 may be described by its two-dimensionaland three-dimensional geometry. For example, the flexure cut 100 mayhave a pyramidal, tubular, cylindrical, and spherical three-dimensionalshape. The flexure cut 100 may have a triangular, rectangular, and/orcircular two-dimensional surface (e.g. cross-section). A dimension (e.g.length) of the flexure cut 100 may extend in a linear and/or curvilinearmanner. As shown in FIG. 5, the flexure cut 100 may be generally tubularor rectangular with a linear or curvilinear dimension.

The geometry of the flexure cut 100 may be configured to facilitateadditional functionality. For example, the flexure cut 100 may include astop feature 190. The stop feature 190 may be embodied as an additionalcomponent or may be created using the geometry of the flexure cut 100.For example, referring now also to FIG. 9, the curvilinear dispositionof the flexure cut may be utilized as a stop feature to preventovertravel. Similarly, extension of the flexure cut 100 to the exteriorsurface of the finger structure 110 (and surroundings thereof) mayfacilitate placement of a wedge 192 (see also FIG. 22) into the fingerstructure 110 to place a predetermined desired load on the flexure cut100.

Generally, the prosthetic device 10 may be configured to provide tactilefeedback, for example, by including one or more tactile sensors. Forexample, the prosthetic hand assembly 30 may include one or more sensorsto provide tactile feedback and grip force sensitivity to the user. Theprosthetic device 10 may be structurally accommodating to permit adesired type, number, and position of tactile sensors based on a varietyof factors, including, but not limited to, desired function, spatialconstraints, durability, calibration, speed, and hysteresis. While thebelow embodiments discuss the implementation of tactile sensor(s) withregards to particular portions of the prosthetic apparatus 10 (e.g.finger member 34), other components of the prosthetic apparatus 10 (e.g.the second segment 32) may similarly utilize the disclosed tactilesensor(s).

The structure of the prosthetic device 10 may be configured to permitplacement of sensors in such a way as to prevent or limit shear forcesand increase durability. The structure of the prosthetic device may alsoor instead be configured to accommodate calibration of the one or moresensor, to permit timely production of data, and to prevent hysteresis.Embodiments of the one or more tactile sensor discussed herein mayinclude conductive cloth, a capacitive sensor, a strain gauge, asilicone/urethane sensor cube, a Hall Effect sensor, and/or a forcesensing resistor. At least one component of the prosthetic device 10(e.g. hand assembly 30 or finger member 34) may be configured to providesufficient spatial consideration for the placement of one or moretactile sensor. Referring now also to FIGS. 10 and 11, the hand assembly30 may be configured to dispose four sensors of a first type of sensor,each in one of four zones 216, 218, 220, 222. The hand assembly 30 maybe configured to dispose seven sensors of a second type, each in one ofseven zones 224, 226, 228, 230, 232, 234, 236. Embodiments of the handassembly 30 may include the sensor(s) located on the exterior surface ofthe prosthetic device 10 and/or may be internal thereto, such that theyprovide tactile feedback related to the zone in which they are disposed.The finger structure 34 may be configured to include one or more tactilesensors disposed on the surface of the finger structure and/or withinthe interior of the finger structure (e.g. within an interior cavity).For example, the contour of the finger structure 34 may be modified topermit placement of an external tactile sensor within the workingenvelope of the finger structure 34. The finger structure 34 may beconfigured with at least a partially hollowed interior cavity withinwhich one or more tactile sensors may be placed.

Referring now also to FIG. 10, an embodiment of a tactile sensor inzones 218, 220, and 222 may be a capacitive sensor. The hand assembly 30may utilize signals from three areas (e.g. zones 218, 220 and 222) withcapacitive sensors to assist with location identification of a tactileinput. The respective outputs from the three areas may be compared usinga processor to estimate the location of a tactile input.

As discussed above and now with reference also to FIGS. 12 and 13, thefinger structure 34 may include at least one flexure cut 100 and acentral bore 250 defined by the finger base 252. The finger member mayfurther include a hall effect sensor 254 disposed within the centralbore 250 and coupled to finger tip portion 256. The fingertip portion256 may be configured to pivot (e.g. in the direction of 258) and mayinclude a wire channel 260 to route wiring from the Hall Effect sensor254 to a circuit (not shown). A magnet shaft 262, having a magnet 264disposed at one end 266, may also be disposed within and extend alongthe length of the central bore 250. The magnet shaft 262 may bepositioned such that a gap 268 is present between the magnet 264 and theHall Effect sensor 254. In some embodiments, the magnet shaft 262 may berotatably or longitudinal actuated (e.g. as a screw) to enableadjustment of the gap 268 between the magnet 264 and the Hall Effectsensor 254.

In operation, the finger tip may pivot as a load is applied, as shown inFIG. 13. As the finger tip portion 256 pivots, the width 150 of flexurecut 100 in the direction of the pivoting may decrease as the width 150of flexure cut 100 on the side opposite of the pivoting may increase. Asthe finger tip portion 256 pivots, the Hall Effect sensor 254 coupledthereto also pivots, changing the displacement of the gap 268 betweenthe magnet 264 and the Hall Effect sensor 254. The Hall Effect sensor254 may be configured to detect the change in displacement of the gap268, which may correspond to an applied load and may be used to monitorthe pivoting of the finger tip portion 256. The Hall Effect sensor 254may be disposed at the juncture of two of the portions 52, 54, and 54 toensure maximum sensing of the pivoting of the fingertip portion 256.Some embodiments may utilize a two dimensional Hall Effect sensor, whileother embodiments may utilize a three dimensional Hall Effect sensor.

In various embodiments, a force-sensing resistor (“FSR”) may be includedin the prosthetic apparatus 10 to provide tactile feedback and gripforce sensitivity to the user. Referring now also to FIG. 14, an FSR 280may be placed directly on an exterior surface 282 of a finger structure,without an intervening component between the FSR 280 and the contactingobject 284. As a result, force may be directly detected by the FSR.

Embodiments may include an FSR disposed on an exterior surface of afinger structure 110, with at least one intervening component 286between the FSR 280 and the contacting object 284 to reduce shear forceand/or increase the effective area of the FSR 280. For example,referring now also to FIG. 15, the finger structure 110 may furtherinclude an intervening component 286 (e.g. elastomer 288) disposedexternally to the FSR 280, such that the elastomer 288 is disposedbetween a contacting object 284 and the FSR 280. Referring now also toFIG. 16, an embodiment may further include a rigid anvil cap 290surrounding the radial outer surfaces of the elastomer 288 to create alarger effective area. Referring now also to FIG. 17, another examplemay include a cantilevered beam 292 disposed in communication with anFSR 280, such that the beam prevents shear loads on the FSR and createsa larger effective area. As the contacting object 284 contacts thecantilevered beam 292, the contact is indirectly transferred to the FSR280, which may create an output signal therefrom for further analysis.

Referring now also to FIG. 18, some embodiments of a finger structure 34may include an at least partially hollow cavity 294 exposed to thesurroundings of the finger structure 34. An FSR 280 may be disposedwithin the cavity 294. Various layers, including, for example, Teflontape 296, silicone material 298, and steel 300 may be disposedexternally to the FSR 280 to reduce shear force and increase theeffective area. Referring now also to FIG. 19, another embodiment mayinclude a finger member with a cavity 294, and an FSR 280 disposedwithin the cavity. The finger member may further include a linearactuator 302 configured to communicate with the FSR 280 through thefinger member, to prevent shear and increase effective area. As acontacting object 284 contacts the actuator 302, it is actuated tocontact the FSR 280. A Belleville spring may be used to preload the FSR280, which prevents overload.

As discussed above with reference to FIGS. 5 and 6, the finger structure110 may include a flexure cut 100. Referring now also to FIG. 20, an FSR280 may be disposed with the flexure cut 100. The FSR may be positionedwithin the gap such that the sensor is positioned between two dissectedsurfaces 304 and 306. The FSR 280 may be configured to sense a pressureas at least one of the dissected surfaces (304 or 306) approaches theother. In an embodiment, the FSR 280 may be configured to detect changesin the gap between the dissected surfaces.

To permit the FSR 280 to detect flexure enabled by the flexure cut 100,the FSR 280 may be coordinated in one of several configurations. In onesuch configuration, the distal end 310 of the FSR may be positionedwithin the flexure cut 100 and the proximal end 312 may be taperedproximally towards the user's hand/hand assembly.

Referring now also to FIG. 21, some embodiments may utilize more thanone force sensing resistors (e.g. a first sensor 230 and a second sensor322) disposed within the flexure cut 100. In such an embodiment, thedistal ends of each of the force sensing resistors may be positionedwithin the flexure cut 100. As the finger flexes, FSR 320 and 322 eachreceive an input. Embodiments having more than one force sensingresistors may facilitate lateral comparative sensing. For example, theforce sensed by the first force sensing resistor 320 may be compared tothe force sensed by the second force sensing resistor 322. A processorand/or controller (not shown) may perform this comparison and produce anoutput indicative of the lateral force causing different sensed forcesin the force sensing resistors.

As discussed below and now also with reference to FIG. 22, theconstruction of the prosthetic apparatus needs to be coordinated totransmit data and power to and from electrical components, particularlyif wired communication is utilized. Although the electrical componentsneed not be sensors, the embodiments below refer to the electricalcomponent as a sensor for illustrate purposes. Embodiments utilizingother electrical components are within the scope of this disclosure.

Embodiments utilizing one or more of the above sensors may utilize wiredor wireless components to transmit power to the sensor(s) and directsignals from the sensor(s). For example, the sensors may be powered by awire that connects the sensor(s) to a power supply located outside ofthe finger member (e.g. in the hand assembly) and/or to a power supplywithin the finger member. In the event that wireless communication isnot utilized to transmit data, the sensor(s) may be wired to a signalboard to transmit signals from the finger member sensor(s) to anothercomponent (e.g. the hand assembly).

Embodiments utilizing wired components to transmit power and/or datasignals must accommodate flexing joint(s) (e.g. finger joints) disposedalong the wiring path, without compromising the integrity of the wire(s)utilized or affecting the flexing joint. Embodiments may utilizemodified configuration(s) of the flexing joint(s) and/or wire(s) toachieve desired results. Embodiments may include a flexing jointconfigured to permit routing of wires therethrough. Some embodiments ofthe flexing joint may include a tension spring and/or torsion spring. Awiring channel may be disposed on, along, or within the flexing joint.Other embodiments may include non-wired components, such as a circuitboard, radial brushers/wipers, axial brushes, and/or a laminated circuitboard. In one such example shown in FIG. 22, the wiring cable 330 may beconfigured to permit joint flexure and wire routing.

The wire may be configured to first annularly traverse a first amount(e.g. 45 degrees) of a circular joint 332 in a first direction (e.g.counterclockwise) and second traverse the a second amount in a seconddirection (e.g. clockwise). Referring now also to FIG. 22, the wire maybe configured to transition from traversing in the first direction tothe second direction by traveling to and around a dowel 334. Thereafter,the wire may be configured to annularly traverse the remainder of thejoint in the second direction. In an embodiment, the wire may beconfigured to travel to and around more than one dowel and in additionaldirections of travel. The finger structure 110 may be configured tofacilitate the wiring travel. For example, the joint may include aninner annular surface 336, an outer annular surface 338, and a wire path340 there between. As the joint flexes, the wire may be configured suchthat it remains around the dowel 334 but translates within the wire path340 between the inner annular surface 336 and outer annular surface 338.

In a hand assembly 30 having more than one finger member 34, the fingermembers 34 may be analogous and/or different. For example, one fingermember 34 (e.g. index structure) included in the hand assembly may havea monolithic phalange member with a fixed angle, while another fingermember 34 may not. Some finger members 34 may utilize two joints, whileothers may utilize only one joint. Similarly, one finger member 34 (e.g.index structure) may include multiple flexure cuts 100 to facilitatesensing on multiple surfaces of the finger member 34, while other fingermembers 34 may not. In some instances, one finger member 34 may permit aparticular sensor type and disposition, while others (e.g. pinkystructure) may not do to their size or operation. In some instances,some finger structures (e.g. ring and middle finger) may beinterchangeably utilized on a left or right hand assembly, while theconstruction of others necessitates mirrors that may only be used oneither a left or right hand assembly. In some instances, phalanges maybe interchangeable amongst several finger members (e.g. middle and ringstructures only differ with the length of the proximal phalangeutilized). These differences are not exhaustive and one skilled in theart shall appreciate that other different combinations are within thescope of this disclosure.

Various alternatives and modifications may be devised by those skilledin the art without departing from the disclosure. Accordingly, thepresent disclosure is intended to embrace all such alternatives,modifications and variances. Additionally, while several embodiments ofthe present disclosure have been shown in the drawings and/or discussedherein, it is not intended that the disclosure be limited thereto, as itis intended that the disclosure be as broad in scope as the art willallow and that the specification be read likewise. Therefore, the abovedescription should not be construed as limiting, but merely asexemplifications of particular embodiments. And, those skilled in theart will envision other modifications within the scope and spirit of theclaims appended hereto. Other elements, steps, methods and techniquesthat are insubstantially different from those described above and/or inthe appended claims are also intended to be within the scope of thedisclosure.

The embodiments shown in drawings are presented only to demonstratecertain examples of the disclosure. And, the drawings described are onlyillustrative and are non-limiting. In the drawings, for illustrativepurposes, the size of some of the elements may be exaggerated and notdrawn to a particular scale. Additionally, elements shown within thedrawings that have the same numbers may be identical elements or may besimilar elements, depending on the context.

Where the term “comprising” is used in the present description andclaims, it does not exclude other elements or steps. Where an indefiniteor definite article is used when referring to a singular noun, e.g. “a”“an” or “the”, this includes a plural of that noun unless somethingotherwise is specifically stated. Hence, the term “comprising” shouldnot be interpreted as being restricted to the items listed thereafter;it does not exclude other elements or steps, and so the scope of theexpression “a device comprising items A and B” should not be limited todevices consisting only of components A and B. This expression signifiesthat, with respect to the present disclosure, the only relevantcomponents of the device are A and B.

Furthermore, the terms “first”, “second”, “third” and the like, whetherused in the description or in the claims, are provided fordistinguishing between similar elements and not necessarily fordescribing a sequential or chronological order. It is to be understoodthat the terms so used are interchangeable under appropriatecircumstances (unless clearly disclosed otherwise) and that theembodiments of the disclosure described herein are capable of operationin other sequences and/or arrangements than are described or illustratedherein.

A number of embodiments have been described. Nevertheless, it will beunderstood that various modifications may be made. Accordingly, otherembodiments are within the scope of the following claims.

While the principles of the invention have been described herein, it isto be understood by those skilled in the art that this description ismade only by way of example and not as a limitation as to the scope ofthe invention. Other embodiments are contemplated within the scope ofthe present invention in addition to the exemplary embodiments shown anddescribed herein. Modifications and substitutions by one of ordinaryskill in the art are considered to be within the scope of the presentinvention.

1-19. (canceled)
 20. A prosthetic device comprising:  a monolithic firstportion defining a flexure cut having a first side and a second side anda gap between the first side and the second side; a second portion; ahinge connecting the first portion to the second portion; a sensor formeasuring a change in dimension of the gap.
 21. The prosthetic device ofclaim 20 wherein the sensor comprises a hall sensor.
 22. The prostheticdevice of claim 21 wherein the hall sensor is on the first side and thesensor further comprises a magnet on the second side.
 23. The prostheticdevice of claim 22 further comprising a wire connected to the sensor andtraversing the first portion, the hinge and the second portion.
 24. Theprosthetic device of claim 23, wherein the wire is configured toannularly traverse the hinge in a first direction before annularlytraversing the hinge in a second direction.
 25. The prosthetic device ofclaim 23, further comprising a wire path for the wire disposed withinthe hinge.
 26. The prosthetic device of claim 20 wherein the secondportion is monolithic and defines a second a flexure cut having a firstside and a second side and a second gap between the first side and thesecond side of the second flexure cut, the prosthetic device furthercomprising a second sensor for the measuring a change in dimension ofthe second gap.
 27. The prosthetic device of claim 20, wherein theflexure cut traverses through the first portion in a curvilinear manner.28. A prosthetic finger comprising: a monolithic distal member defininga flexure cut having a first side and a second side and a gap betweenthe first side and the second side; a proximal member; a hingeconnecting the proximal member to the distal member; a sensor in thedistal member for measuring a change in dimension of the gap.
 29. Theprosthetic device of claim 28 wherein the sensor comprises a hallsensor.
 30. The prosthetic device of claim 29 wherein the hall sensor ison the first side and the sensor further comprises a magnet on thesecond side.
 31. The prosthetic device of claim 28 further comprising awire connected to the sensor and traversing the distal member, the hingeand the proximal member.
 32. The prosthetic device of claim 31, whereinthe wire is configured to annularly traverse the hinge in a firstdirection before annularly traversing the hinge in a second direction.33. The prosthetic device of claim 31, further comprising a wire pathfor the wire disposed within the hinge.
 34. The prosthetic device ofclaim 28 wherein the proximal member is monolithic and defines a seconda flexure cut having a first side and a second side and a second gapbetween the first side and the second side of the second flexure cut,the prosthetic device further comprising a second sensor for themeasuring a change in dimension of the second gap.
 35. The prostheticdevice of claim 28, wherein the flexure traverses through the proximalmember in a curvilinear manner.
 36. The prosthetic device of claim 28wherein the distal member has a first portion and a second portion, thefirst portion at an angle to the second portion.
 37. The prostheticdevice of claim 36 wherein the flexure cut is in the first portion andthe first portion is attached to the hinge.
 38. A method for detectingtactile feel with a prosthetic device, the method comprising: providinga monolithic prosthetic member having a flexure cut, the cut having afirst and second side and defining a gap therebetween; applying a loadto the prosthetic member to flex the flexture cut to change the gap;measuring the change in the gap.
 39. The method of claim 38 furthercomprising: providing a hall sensor on the first side and a magnet onthe second side for measuring the change in the gap.
 40. The method ofclaim 38 wherein the step of applying the load includes decreasing thegap.